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Research On Servo Control Strategy For Pump-Control Cylinder Driven By New Integrated Motor Pump

Posted on:2012-08-02Degree:MasterType:Thesis
Country:ChinaCandidate:Y S ZhangFull Text:PDF
GTID:2132330338991082Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
The new integrated motor pump which combines the axial piston pump and permanent-magnet motor together is a new electromechanical integration power unit of high efficiency and energy-saving. Pump-control cylinder hydraulic servo system is driven by this motor-pump. This hydraulic servo system is controlled by different motor-pump's flow, which is realized by changing the speed of the motor-pump. With the difference of traditional pump-control cylinder direct drive servo system, it is the usage of the motor-pump that replaces the combination of the servo motor and pump. Because of small volume, high efficiency, high reliability, it is considered to be the most meaningful direction of the development of hydraulic control.This program comes from "Digital control speed variable servo motor axial piston hydraulic pump theory, key technology and experimental research."supported by the National Natural Science Foundation of China .Firstly , this paper analyzes the working principle of the new motor-pump and the components of the pump-control cylinder system . The mathematical model is established in form of space-state equation for inner loop and outer loop of the pump-control cylinder system.Secondly, using Backstepping technology, the adaptive controller is designed for the high-level mathematical model of the pump-control cylinder system. The uncertain parameters present in the system and external load disturbance are considered in whole, the adaptive laws are designed to estimate the maximal limited values of the whole disturbance. The effectiveness of this method is validated by simulation.Then, a large number of parameters require adapting by using Backstepping technology and adaptive laws. It is hard to guarantee the dynamic performance in this way. So an improved adaptive Backstepping controller with partial sliding mode control is proposed in this paper. The improved controller requires little adjusting parameters. The use of pole placement method can achieve the desired dynamic performance.Finally, the mathematical model of higher order system is divided into two subsystems. A memoryless state feedback virtual controller is designed by using LMI-based robust technology to subsystem; By using Lyapunov stability theory and Backstepping theory, a final controller of the system is designed to ensure L2 gain stability and strong robustness in the high order system with the uncertain parameters and external disturbances.
Keywords/Search Tags:Pump-control cylinder, Motor-pump, Backstepping, Sliding mode control, L2 Gain
PDF Full Text Request
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